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US9771073B2 - Adaptive cruise control system in vehicle and method thereof - Google Patents

Adaptive cruise control system in vehicle and method thereof Download PDF

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Publication number
US9771073B2
US9771073B2 US15/170,942 US201615170942A US9771073B2 US 9771073 B2 US9771073 B2 US 9771073B2 US 201615170942 A US201615170942 A US 201615170942A US 9771073 B2 US9771073 B2 US 9771073B2
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vehicle
stopped
acc
detected
determined
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US20160362105A1 (en
Inventor
Min-Su KWON
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HL Klemove Corp
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Mando Corp
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Assigned to HL KLEMOVE CORP. reassignment HL KLEMOVE CORP. MERGER (SEE DOCUMENT FOR DETAILS). Assignors: MANDO MOBILITY SOLUTIONS CORPORATION
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B60W2420/52—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B60W2550/22—
    • B60W2550/402—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

Definitions

  • Embodiments of the present disclosure relate to an adaptive cruise control (ACC) system in a vehicle and a method thereof, and more particularly, to an ACC system that, when a stopped object is detected in front of a vehicle, improves accuracy of a determination of whether the object is determined to be a stopped vehicle and control needs to be performed to deceleration and stop the vehicle, or whether the object is determined to be a stopped object and control needs to be performed to avoid crashing into the stopped object, and a method thereof.
  • ACC adaptive cruise control
  • an adaptive cruise control (ACC) system which is used nowadays provides convenience to a user by maintaining a vehicle speed corresponding to a road condition of the outside even when the user does not put on a brake or accelerator when the user sets the vehicle speed to a constant speed.
  • ACC adaptive cruise control
  • SCC smart cruise control
  • Such an ACC system in a vehicle controls a distance and relative speed between a controlled vehicle and a preceding vehicle using a radar sensor in the front of the vehicle, and controls an acceleration controller, an engine controller, and a brake controller using information including an angle with respect to a traveling direction and the like of the controlled vehicle, and preset vertical speed and acceleration limits of the controlled vehicle.
  • a conventional ACC system is designed to control a vehicle when the vehicle moves and another vehicle moves only in front of the vehicle because the conventional ACC system cannot determine whether a stopped object in front of the vehicle is a vehicle or a structure of a road using only a radar.
  • the conventional ACC system cannot recognize the stopped object as a stopped vehicle and cannot perform deceleration control, and thus there are problems in that a collision and the like occur.
  • the ACC system includes a camera sensor as well as a radar sensor to detect a stopped vehicle positioned in front of the vehicle to prevent crashing into the stopped vehicle by detecting the stopped vehicle, such an ACC has a problem in that cost is increased.
  • the stopped object may be determined to be a stopped vehicle by determining as a situation like the plurality of vehicles are waiting for a signal.
  • the present disclosure provides an adaptive cruise control (ACC) system capable of quickly and properly responding to a stopped vehicle in front of the vehicle by automatically changing a direction or raising an alarm when a stopped object is determined to be the stopped vehicle, and a method thereof.
  • ACC adaptive cruise control
  • An adaptive cruise control (ACC) system includes: a radar sensor unit which detects an object around a vehicle; a movement detector which measures a driving speed and acceleration of the vehicle; a determination unit which determines a stopped object to be a stopped vehicle when the stopped object is detected in front of the vehicle and a surrounding vehicle detected around the vehicle is detected to decelerate on the basis of the measured driving speed and acceleration; and a controller which regards the stopped vehicle as a preceding vehicle and performs deceleration control.
  • the determination unit may determine the stopped object to be the stopped vehicle.
  • the determination unit may determine the stopped object to be the stopped vehicle.
  • the system may further include: a navigation unit which receives a position of the vehicle and stores map information of the position, wherein when it is determined that the received position of the vehicle is in front of a traffic light or intersection, the determination unit may determine the stopped object to be the stopped vehicle.
  • a navigation unit which receives a position of the vehicle and stores map information of the position, wherein when it is determined that the received position of the vehicle is in front of a traffic light or intersection, the determination unit may determine the stopped object to be the stopped vehicle.
  • the controller may perform warning and deceleration controls.
  • an ACC method comprises: detecting an object around a vehicle; measuring a driving speed and acceleration of the vehicle; determining a stopped object to be a stopped vehicle when the stopped object is detected in front of the vehicle, and a surrounding vehicle positioned around the vehicle is detected to be running at a reduced speed; and performing a deceleration control by regarding the stopped vehicle as a preceding vehicle.
  • the stopped object When the surrounding vehicle which runs at reduced speed is expected to stop in a preset distance range from the stopped object, the stopped object may be determined to be the stopped vehicle.
  • the stopped object When surrounding vehicles are detected around the vehicle at both a left and a right of the vehicle, the stopped object may be determined to be the stopped vehicle.
  • the method may further include: receiving a position of the vehicle, wherein when it is determined that the received position of the vehicle is in front of a traffic light or intersection, the stopped object may be determined to be the stopped vehicle.
  • warning and deceleration controls may be performed.
  • FIG. 1 is a block diagram illustrating an adaptive cruise control (ACC) system of a vehicle according to one embodiment of the present disclosure.
  • ACC adaptive cruise control
  • FIG. 2 is a schematic view illustrating a situation in which surrounding vehicles are detected according to one embodiment of the present disclosure.
  • FIG. 3 is a schematic view illustrating one example of a vehicle according to one embodiment of the present disclosure.
  • FIG. 4 is a view illustrating a navigation screen which shows a position of a vehicle according to one embodiment of the present disclosure.
  • FIG. 5 is a flowchart of a method of the ACC of a vehicle according to the embodiment of the present disclosure.
  • FIG. 1 is a block diagram illustrating an adaptive cruise control (ACC) system 1 of a vehicle according to one embodiment of the present disclosure
  • FIG. 2 is a schematic view illustrating a situation in which surrounding vehicles are detected according to one embodiment of the present disclosure
  • FIG. 3 is a schematic view illustrating one example of a vehicle in which the ACC system 1 according to one embodiment of the present disclosure is installed
  • FIG. 4 is a view illustrating a navigation screen which shows a position of a vehicle according to one embodiment of the present disclosure.
  • ACC adaptive cruise control
  • the ACC system 1 of a vehicle includes a radar sensor unit 10 , a movement detector 20 , a navigation unit 30 , a control unit 40 , a brake unit 50 , and a warning unit 60 .
  • the radar sensor unit 10 may adopt a radar sensor, which is not illustrated in the drawing, for detecting an obstacle positioned around a vehicle 2 .
  • a radar sensor which is a sensor of the ACC system 1 , may be installed in the front of the vehicle to detect a preceding vehicle, and may be installed at a side of the vehicle to detect an object and a vehicle around the vehicle 2 as illustrated in the vehicle 2 illustrated in FIG. 2 .
  • a 77 GHz radar may generally be used as such a radar sensor.
  • the radar sensor unit 10 may obtain information of a distance between the vehicle 2 and a detected obstacle using the radar sensor included in the radar sensor unit 10 , and may send the obtained information of the distance from the obstacle to the control unit 40 .
  • the movement detector 20 which detects a state of the vehicle 2 , detects speed, acceleration, and the like of the vehicle 2 , and sends the detected information to the control unit 40 .
  • the movement detector includes a speed sensor 21 which measures the speed of the vehicle 2 and an acceleration sensor 22 which measures the acceleration of the vehicle 2 .
  • the speed sensor 21 which is installed inside a wheel of the vehicle 2 , may detect a rotational speed of a vehicle wheel and may send the detected signal to the control unit 40 .
  • the speed sensor 21 may adopt a wheel speed sensor (not shown) for measuring the speed of the vehicle.
  • the acceleration sensor 22 which measures the acceleration of the vehicle 2 , may include a horizontal acceleration sensor (not shown) and a vertical acceleration sensor (not shown).
  • the horizontal acceleration sensor measures acceleration of a horizontal direction when an X-axis refers to a movement direction of the vehicle and an axis perpendicular to the movement direction (a Y-axis) refers to the horizontal direction.
  • the vertical acceleration sensor may measure acceleration of the movement direction, that is, the X-axis of the vehicle.
  • Such an acceleration sensor in the acceleration sensor 22 which is a component that detects change in speed per unit time, detects dynamic forces such as acceleration, vibration, and shock and makes measurements using the principals of inertial force, electrostriction, and gyro. Next, the measured value of the acceleration sensor may be sent to the control unit 40 .
  • the navigation unit 30 receives global positioning system (GPS) information and calculates a current position of the vehicle. That is, the navigation unit 30 receives time information from a plurality of satellites, calculates time differences between the time information from the satellites, and then finds a three dimensional (3D) position of a place where the signals are received. Since such technology of the GPS is already commercialized and used for various fields, a specific description thereof will be omitted.
  • GPS global positioning system
  • a driving route of the vehicle may be calculated by receiving the GPS position information and using pre-stored map information.
  • the navigation unit 30 may also calculate a route through which the vehicle will run from a current position of the vehicle to a target position set by a driver as a driving route of the vehicle, and alternatively, when a target position is not set, the navigation 30 may also simply calculate a driving route estimated according to a driving direction of the vehicle 2 from the current position of the vehicle 2 .
  • GPS position information it may be determined whether the vehicle 2 is positioned in front of a traffic light or intersection.
  • the navigation unit 30 may send current position information of the vehicle to the control unit 40 .
  • control unit 40 totally controls the ACC system 1 of a vehicle according to the embodiment of the present disclosure. Specifically, the control unit 40 mediates data access between various functional units included in the ACC system 1 and the control unit 40 of the vehicle, and includes a determination unit 41 which determines whether surrounding vehicles decelerate and a controller 42 which controls deceleration when it is determined that the vehicles are reducing speed and a stopped object in front of the vehicle is detected.
  • control unit 40 may include a main processor which mediates data access between various functional units and the control unit 40 hardware-wise and performs a determination of whether surrounding vehicles are reducing speed and deceleration control, and a memory which stores programs and data in the main processor.
  • the memory may include a non-volatile memory such as a flash memory, a read-only memory (ROM), an erasable programmable ROM (EPROM), an electrically EPROM (EEPROM), and the like as well as a volatile memory such as a static random access memory (S-RAM), a dynamic RAM (D-RAM), and the like.
  • a non-volatile memory such as a flash memory, a read-only memory (ROM), an erasable programmable ROM (EPROM), an electrically EPROM (EEPROM), and the like as well as a volatile memory such as a static random access memory (S-RAM), a dynamic RAM (D-RAM), and the like.
  • the non-volatile memory may semi-permanently store a control program and control data for controlling an operation of the ACC system 1 included in the vehicle, and the volatile memory may read the control program and the control data from the non-volatile memory and temporarily store the control program and the control data, and temporarily store information of an obstacle detected by the radar sensor unit 10 , information of the speed and acceleration of the vehicle detected by the movement detector 20 , information of a position of the vehicle 2 obtained by the navigation unit 30 , and various control signals output by the main processor.
  • the determination unit 41 determines whether a front obstacle detected by the radar sensor unit 10 is a stopped vehicle. That is, as illustrated in FIG. 2 , the determination unit 41 determines whether the front obstacle detected by the radar sensor positioned in the front of the vehicle is determined to be a stopped vehicle 3 as a preceding vehicle of the ACC system 1 according to the embodiment of the present disclosure. The determination unit 41 determines whether surrounding vehicles a, b, and c detected by the radar sensor unit 10 run at a reduced speed to determine whether the stopped vehicle 3 is the preceding vehicle.
  • the determination unit 41 may determine whether the detected surrounding vehicles a, b, and c run at the reduced speed by calculating a relative speed and a relative acceleration based on the speed and acceleration detected by the movement detector 20 included in the vehicle 2 .
  • the ACC system 1 determines the detected obstacle in front of the vehicle to be the stopped vehicle 3 in front of the vehicle.
  • the preset certain area 200 refers to a region including a predetermined distance of left and right lanes of the detected obstacle in front of the vehicle.
  • the number of the surrounding vehicles a, b, and c which are determinable may be increased.
  • the ACC system 1 may control reducing speed and stopping of the vehicle 2 by regarding the stopped vehicle 3 in front as a preceding vehicle.
  • the determination unit 41 may determine a stopped obstacle in front of the vehicle to be the stopped vehicle 3 in front of the vehicle which may be regarded as a preceding vehicle of the ACC system 1 according to the embodiment of the present disclosure.
  • the determination unit 41 may determine the front obstacle to be the stopped vehicle 3 in front of the vehicle, determine the stopped vehicle 3 in front of the vehicle to be a preceding vehicle, and perform deceleration control according to the embodiment of the present disclosure.
  • the determination unit 41 may determine that the front obstacle is positioned at a center of a road and determine the front obstacle to be the stopped vehicle 3 in front of the vehicle. Accordingly, the control unit 40 may determine the stopped obstacle, that is, the stopped vehicle 3 , in front of the vehicle to be a preceding vehicle, and perform deceleration control according to the embodiment of the present disclosure.
  • the controller 42 determines the stopped vehicle 3 in front of the vehicle to be a preceding vehicle and performs deceleration and stopping controls so that a crash does not occur.
  • the determination unit 41 determines the obstacle to be a stopped obstacle and simultaneously performs a warning control to warn a driver and deceleration and stopping controls so that a crash does not occur.
  • the brake unit 50 performs braking corresponding to reducing and stopping control signals from the control unit 40 . Specifically, the brake unit 50 operates a brake (not shown) to decelerate corresponding to a braking distance in which crashing into the stopped vehicle 3 in front of the vehicle is determined not to occur.
  • the warning unit 60 may warn the driver that there is an obstacle in front of the vehicle depending on a control signal output by the control unit 40 .
  • Such a warning unit 60 may include a display portion visually showing a warning or a sound portion acoustically sounding a warning to warn the driver.
  • FIG. 5 is a flowchart of a method of the ACC of a vehicle according to the embodiment of the present disclosure.
  • the ACC system 1 according to the embodiment of the present disclosure in the vehicle 2 is turned on (S 10 ).
  • the ACC system 1 detects a front vehicle to be a preceding vehicle, and performs acceleration and deceleration control.
  • the vehicle 2 detects a stopped object (S 20 ).
  • the radar sensor included in the radar sensor unit 10 may detect the stopped object positioned in front of the vehicle 2 .
  • the vehicle 2 detects surrounding vehicles which run around the vehicle (S 30 ). That is, radar sensors positioned at sides and in the front of the vehicle may detect the surrounding vehicles positioned in front and at the sides of the vehicle. Specifically, as illustrated in FIG. 2 , the vehicle 2 may detect the surrounding vehicles a, b, and c which run on left and right lanes.
  • the surrounding vehicles are reducing speed (S 40 ). Specifically, it may be determined whether the surrounding vehicles a, b, and c decelerate by calculating a relative speed of the surrounding vehicles a, b, and c detected by the radar sensor based on a speed and acceleration of the vehicle 2 measured by the movement detector 20 included in the ACC system 1 according to the embodiment of the present disclosure.
  • the stopped object is determined to be the stopped vehicle 3 in front (S 50 ).
  • the control unit 40 determines the stopped object to be the stopped vehicle 3 in front of the vehicle (S 50 ).
  • the determination unit 41 in the control unit 40 determines the stopped object to be the stopped vehicle 3 in front of the vehicle
  • the determination unit 41 determines the stopped vehicle 3 in front of the vehicle to be the preceding vehicle (S 60 ), and performs deceleration and stopping controls so that the vehicle 2 does not crash into the stopped vehicle 3 in front of the vehicle (S 70 ). That is, the brake unit 50 performs braking of the vehicle 2 depending on a control signal for reducing speed of the control unit 40 .
  • the determination unit 41 determines the stopped object in front of the vehicle to be an obstacle which is not a stopped vehicle (S 80 ). Accordingly, warning and deceleration controls are performed so as not to crash into the stopped object in front of the vehicle and to inform a user (S 90 ).
  • an ACC system can improve safety of the ACC system by automatically braking, steering, or raising an alarm in a specific situation in which a stopped object in front of a vehicle is waiting for a signal.
  • the ACC system can quickly and properly respond to the stopped vehicle in front of the vehicle by automatically changing a direction of the vehicle or raising an alarm.
  • the ACC system can control the vehicle by regarding a remotely positioned stopped vehicle as a preceding vehicle because the radar sensor can detect an object positioned at a remote position unlike a camera sensor which can detect only an object positioned in front of the vehicle in a short distance.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mathematical Physics (AREA)
US15/170,942 2015-06-12 2016-06-02 Adaptive cruise control system in vehicle and method thereof Active US9771073B2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020150083229A KR102285420B1 (ko) 2015-06-12 2015-06-12 차량의 순항 제어 시스템 및 그 제어 방법
KR10-2015-0083229 2015-06-12

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US20160362105A1 (en) 2016-12-15
KR20160146239A (ko) 2016-12-21

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